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Commissioning

EL1052, EL1054

Version: 1.1

State Machine

Init

This button attempts to set the EtherCAT device to the

Init

state.

Pre-Op

This button attempts to set the EtherCAT device to the

pre-operational

state.

This button attempts to set the EtherCAT device to the

operational

state.

Bootstrap

This button attempts to set the EtherCAT device to the

Bootstrap

state.

Safe-Op

This button attempts to set the EtherCAT device to the

safe-operational

state.

Clear Error

This button attempts to delete the fault display. If an EtherCAT slave fails during
change of state it sets an error flag.

Example: An EtherCAT slave is in PREOP state (pre-operational). The master now
requests the SAFEOP state (safe-operational). If the slave fails during change of state
it sets the error flag. The current state is now displayed as ERR PREOP. When the

Clear Error

button is pressed the error flag is cleared, and the current state is

displayed as PREOP again.

Current State

Indicates the current state of the EtherCAT device.

Requested State

Indicates the state requested for the EtherCAT device.

DLL Status

Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT slave. The DLL status
can have four different states:

Status

Description

No Carrier / Open

No carrier signal is available at the port, but the port is open.

No Carrier / Closed

No carrier signal is available at the port, and the port is closed.

Carrier / Open

A carrier signal is available at the port, and the port is open.

Carrier / Closed

A carrier signal is available at the port, but the port is closed.

File Access over EtherCAT

Download

With this button a file can be written to the EtherCAT device.

Upload

With this button a file can be read from the EtherCAT device.

"DC" tab (Distributed Clocks)

Fig. 86: "DC" tab (Distributed Clocks)

Operation Mode

Options (optional):

• FreeRun

• SM-Synchron

• DC-Synchron (Input based)

• DC-Synchron

Advanced Settings…

Advanced settings for readjustment of the real time determinant TwinCAT-
clock

Detailed information to Distributed Clocks are specified on

http://infosys.beckhoff.com

Fieldbus Components

→ EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics →

Distributed Clocks

Содержание EL1052

Страница 1: ...Documentation EL1052 EL1054 Digital input terminals for NAMUR sensors 1 1 2018 11 29 Version Date ...

Страница 2: ......

Страница 3: ...ctions for enhanced mechanical load capacity 28 4 4 Connection 29 4 4 1 Connection system 29 4 4 2 Wiring 31 4 4 3 Shielding 32 4 5 Positioning of passive Terminals 33 4 6 UL notice 33 4 7 ATEX Special conditions standard temperature range 35 4 8 ATEX Documentation 36 4 9 Installation positions 36 4 10 LEDs and connection 38 5 Commissioning 39 5 1 TwinCAT Development Environment 39 5 1 1 Installat...

Страница 4: ...e Update EL ES EM EPxxxx 82 6 3 1 Device description ESI file XML 83 6 3 2 Firmware explanation 86 6 3 3 Updating controller firmware efw 87 6 3 4 FPGA firmware rbf 88 6 3 5 Simultaneous updating of several EtherCAT devices 92 6 4 Restoring the delivery state 93 6 5 Support and Service 94 ...

Страница 5: ...data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT P Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners Patent Pending The EtherCAT Technolo...

Страница 6: ...r trained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions are used These instructions must be read carefully and followed without fail DANGER Serious risk of injury Failure to follow this safety instruction directly endangers the life and health of persons WA...

Страница 7: ...elow EL3314 0000 is the order identifier in the case of 0000 usually abbreviated to EL3314 0016 is the EtherCAT revision The order identifier is made up of family key EL EP CU ES KL CX etc type 3314 version 0000 The revision 0016 shows the technical progress such as the extension of features with regard to the EtherCAT communication and is managed by Beckhoff In principle a device with a higher re...

Страница 8: ...ere the following syntax can be used see respective device documentation Syntax D ww yy x y z u D prefix designation ww calendar week yy year x firmware version of the bus PCB y hardware version of the bus PCB z firmware version of the I O PCB u hardware version of the I O PCB Example D 22081501 calendar week 22 of the year 2008 firmware version of bus PCB 1 hardware version of bus PCB 5 firmware ...

Страница 9: ...054 9 Version 1 1 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number Fig 3 CU2016 switch with serial batch number Fig 4 EL3202 0020 with serial batch number 26131006 and unique ID number 204418 ...

Страница 10: ...umber 158102 Fig 6 EP1908 0002 IP67 EtherCAT Safety Box with batch number date code 071201FF and unique serial number 00346070 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and unique serial number 00331701 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201 ...

Страница 11: ...e EL1052 and EL1054 digital input terminal acquires signals from NAMUR field devices according to IEC 60947 5 6 The sensors are supplied with a voltage of 8 2 VDC and return a diagnosable current signal In this way a wire breakage or short circuit can be detected in addition to the switching state The LEDs indicate signal or any error states channel by channel ...

Страница 12: ...eld potential Bit width in the process image 4 state bits 8 state bits Configuration no address or configuration setting Special features integrated reverse voltage protection Max sensor wire length The wire length from the EtherCAT terminal to the sensor encoder must have max 30 m without any action of protection For larger wire lengths a proper over voltage protection surge protection is require...

Страница 13: ...overview EL1052 EL1054 13 Version 1 1 2 3 Start For commissioning mount the terminal as described in the chapter Mounting and wiring 25 configure the terminal in TwinCAT as described in chapter Commissioning 39 ...

Страница 14: ...EC 8802 3 Pin Color of conductor Signal Description 1 yellow TD Transmission Data 2 orange TD Transmission Data 3 white RD Receiver Data 6 blue RD Receiver Data Due to automatic cable detection auto crossing symmetric 1 1 or cross over cables can be used between EtherCAT devices from Beckhoff Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff web...

Страница 15: ...rminal for longer than the set and activated SM watchdog time e g in the event of a line interruption the watchdog is triggered and the outputs are set to FALSE The OP state of the terminal is unaffected The watchdog is only reset after a successful EtherCAT process data access Set the monitoring time as described below The SyncManager watchdog monitors correct and timely process data communicatio...

Страница 16: ... If the checkbox is not activated nothing is downloaded and the ESC settings remain unchanged Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle divided by the watchdog multiplier 1 25 MHz watchdog multiplier 2 100 µs for default setting of 2498 for the multiplier The standard setting of 1000 for the SM watchdog corresponds to a release time of 100 ms The value...

Страница 17: ...for switching off of the SM watchdog via SM watchdog 0 is only implemented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and undefined state possible If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely This is the deactivation of the watchdog Set outputs are NOT set in a safe state i...

Страница 18: ...Operational Safe Op During transition between Pre Op and Safe Op the EtherCAT slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings are correct Before it acknowledges the change of state the EtherCAT slave copies current input data into the associated DP RAM areas of the EtherCAT slave controller ECSC In Safe Op state mailbox ...

Страница 19: ...alibration values for analog measurement or passwords The order is specified in 2 levels via hexadecimal numbering main index followed by subindex The value ranges are Index 0x0000 0xFFFF 0 65535dez SubIndex 0x00 0xFF 0 255dez A parameter localized in this way is normally written as 0x8010 07 with preceding x to identify the hexadecimal numerical range and a colon between index and subindex The re...

Страница 20: ...rameters are still available after a restart The situation may be different with other manufacturers An EEPROM is subject to a limited lifetime with respect to write operations From typically 100 000 write operations onwards it can no longer be guaranteed that new changed data are reliably saved or are still readable This is irrelevant for normal commissioning However if CoE parameters are continu...

Страница 21: ...lue is to be stored permanently enter it in the Startup list The order of the Startup entries is usually irrelevant Fig 14 Startup list in the TwinCAT System Manager The Startup list may already contain values that were configured by the System Manager based on the ESI specifications Additional application specific entries can be created Online offline list While working with the TwinCAT System Ma...

Страница 22: ...line The actual current slave list is read This may take several seconds depending on the size and cycle time The actual identity is displayed The firmware and hardware version of the equipment according to the electronic information is displayed Online is shown in green Fig 16 Online list ...

Страница 23: ... the placeholder n tends to be used for the individual channel numbers In the CoE system 16 indices each with 255 subindices are generally sufficient for representing all channel parameters The channel based order is therefore arranged in 16dec 10hex steps The parameter range 0x8000 exemplifies this Channel 0 parameter range 0x8000 00 0x800F 255 Channel 1 parameter range 0x8010 00 0x801F 255 Chann...

Страница 24: ...Unit 1 ns Zero point 1 1 2000 00 00 Size 64 bit sufficient for the next 584 years however some EtherCAT slaves only offer 32 bit support i e the variable overflows after approx 4 2 seconds The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of 100 ns For detailed information please refer to the EtherCAT system description ...

Страница 25: ...with highly insulating materials synthetic fibers plastic film etc Surroundings working place packaging and personnel should by grounded probably when handling with the devices Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap to en sure the protection class and ESD protection Fig 17 Spring contacts of the Beckhoff I O components 4 2 Installation on mounti...

Страница 26: ... the lock clicks onto the mounting rail If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove the connection will not be operational When correctly assembled no significant gap should be visible between the housings Fixing of mounting rails The locking mechanism of the terminals and couplers extends to the profile of the mounting rail At the i...

Страница 27: ...mponents The six spring contacts of the K Bus E Bus deal with the transfer of the data and the supply of the Bus Terminal electronics The power contacts deal with the supply for the field electronics and thus represent a supply rail within the bus terminal block The power contacts are supplied via terminals on the Bus Coupler up to 24 V or for higher voltages via power feed terminals Power Contact...

Страница 28: ...oints for testing these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for other potentials 4 3 Installation instructions for enhanced mechanical load capacity WARNING Risk of injury through electric shock and damage to the device Bring the Bus Terminal system into a safe de energized s...

Страница 29: ... relief and the wire connection should be kept as short as possible A distance of approx 10 cm should be maintained to the cable duct 4 4 Connection 4 4 1 Connection system WARNING Risk of electric shock and damage of device Bring the bus terminal system into a safe powered down state before starting installation disassembly or wiring of the bus terminals Overview The Bus Terminal system offers di...

Страница 30: ...l connection wires when the connector is removed Conductor cross sections between 0 08 mm2 and 2 5 mm2 can continue to be used with the proven spring force technology The overview and nomenclature of the product names for ESxxxx and KSxxxx series has been retained as known from ELxxxx and KLxxxx series High Density Terminals HD Terminals Fig 23 High Density Terminals The Bus Terminals from these s...

Страница 31: ...don t toggle 2 The wire can now be inserted into the round terminal opening without any force 3 The terminal point closes automatically when the pressure is released holding the wire securely and permanently See the following table for the suitable wire size width Terminal housing ELxxxx KLxxxx ESxxxx KSxxxx Wire size width single core wires 0 08 2 5 mm2 0 08 2 5 mm2 Wire size width fine wire cond...

Страница 32: ... mm2 Wire size width fine wire conductors 0 25 1 5 mm2 Wire size width conductors with a wire end sleeve 0 14 0 75 mm2 Wire size width ultrasonically bonded conductors only 1 5 mm2 Wire stripping length 8 9 mm 4 4 3 Shielding Shielding Encoder analog sensors and actors should always be connected with shielded twisted paired wires ...

Страница 33: ... consump tion out of the E Bus To ensure an optimal data transfer you must not directly string together more than 2 passive termi nals Examples for positioning of passive terminals highlighted Fig 25 Correct positioning Fig 26 Incorrect positioning 4 6 UL notice Application Beckhoff EtherCAT modules are intended for use with Beckhoff s UL Listed EtherCAT Sys tem only Examination For cULus examinat...

Страница 34: ...on of 4 A Devices with this kind of certification are marked by this sign Almost all current EtherCAT products as at 2010 05 are UL certified without restrictions Application If terminals certified with restrictions are used then the current consumption at 24 VDC must be limited accordingly by means of supply from an isolated source protected by a fuse of max 4 A according to UL248 or from a volta...

Страница 35: ... against the rated operating voltage being exceeded by more than 40 due to short term interference voltages The individual terminals may only be unplugged or removed from the Bus Terminal system if the supply voltage has been switched off or if a non explosive atmosphere is ensured The connections of the certified components may only be connected or disconnected if the supply volt age has been swi...

Страница 36: ...ictions regarding the installa tion position and or the operating temperature range have been specified When installing high power dissi pation terminals ensure that an adequate spacing is maintained between other components above and be low the terminal in order to guarantee adequate ventilation Optimum installation position standard The optimum installation position requires the mounting rail to...

Страница 37: ...tallation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangement of the mounting rail see Fig Other installation positions The minimum distances to ambient specified above also apply to these installation positions Fig 28 Other installation positions ...

Страница 38: ...ration NAMUR sensor on channel in conducting state 1 according to IEC 60947 5 6 Connection EL1052 Terminal point Description Designation No I1 1 Input Channel 1 Uv1 2 Sensor supply Channel 1 n c 3 Not connected PE 4 PE internally connected to terminal point 8 I2 5 Input Channel 2 Uv2 6 Sensor supply Channel 2 n c 7 Not connected PE 8 PE internally connected to terminal point 4 Connection EL1054 Te...

Страница 39: ... eXtended Automation Visual Studio Integration Choice of the programming language Supports object orientated extension of IEC 61131 3 Usage of C C as programming language for real time applications Connection to MATLAB Simulink Open interface for expandability Flexible run time environment Active support of Multi Core und 64 Bit Operatingsystem Automatic code generation and project creation with t...

Страница 40: ...rfaces listed under Compatible devices can be assigned a driver via the Install button A driver should only be installed on compatible devices A Windows warning regarding the unsigned driver can be ignored Alternatively an EtherCAT device can be inserted first of all as described in chapter Offline configuration creation section Creating the EtherCAT device 50 in order to view the compatible ether...

Страница 41: ...rties of the EtherCAT device can be opened by double click on Device EtherCAT within the Solution Explorer under I O After the installation the driver appears activated in the Windows overview for the network interface Windows Start System Properties Network Fig 34 Windows properties of the network interface A correct setting of the driver could be ...

Страница 42: ...Commissioning EL1052 EL1054 42 Version 1 1 Fig 35 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided ...

Страница 43: ...Commissioning EL1052 EL1054 43 Version 1 1 Fig 36 Incorrect driver settings for the Ethernet port ...

Страница 44: ...es where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the Internet Protocol TCP IP driver setting and to disable DHCP In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided A suitable address space is 192 168 x x for example Fig 37 TCP IP setti...

Страница 45: ...hat was current at the time when the TwinCAT build was created For TwinCAT 2 11 TwinCAT 3 and higher the ESI directory can be updated from the System Manager if the programming PC is connected to the Internet by TwinCAT 2 Option Update EtherCAT Device Descriptions TwinCAT 3 TwinCAT EtherCAT Devices Update Device Descriptions via ETG Website The TwinCAT ESI Updater 49 is available for this purpose ...

Страница 46: ...evision 1019 or for an older revision The ESI must then be requested from the manufacturer in this case Beckhoff b an ESI is present for the EL2521 0000 device but only in an older revision e g 1018 or 1017 In this case an in house check should first be performed to determine whether the spare parts stock al lows the integration of the increased revision into the configuration at all A new higher ...

Страница 47: ...e deleted as follows close all System Manager windows restart TwinCAT in Config mode delete OnlineDescription0000 xml restart TwinCAT System Manager This file should not be visible after this procedure if necessary press F5 to update OnlineDescription for TwinCAT 3 x In addition to the file described above OnlineDescription0000 xml a so called EtherCAT cache with new discovered devices is created ...

Страница 48: ...52 EL1054 48 Version 1 1 Reasons may include Structure of the xml does not correspond to the associated xsd file check your schematics Contents cannot be translated into a device description contact the file manufacturer ...

Страница 49: ... presence of the actual I O environment drives terminals EJ modules If the configuration is to be prepared in advance of the system configuration as a programming system e g on a laptop this is only possible in Offline configuration mode In this case all components have to be entered manually in the configuration e g based on the electrical design If the designed control system is already connecte...

Страница 50: ...guration 60 can also be carried out for comparison 5 1 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 46 Append EtherCAT device left TwinCAT 2 right TwinCAT 3 Select type EtherCAT for an EtherCAT I O application with EtherCAT slaves For the present publisher subscriber service in combination with an EL6601 EL6614 termin...

Страница 51: ...ices can be appended by right clicking on a device in the configuration tree Fig 50 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only devices for which ESI files are available are displayed Only devices are offered for selection that can be appended to the previously selected device Therefore the physical layer available for this port is als...

Страница 52: ...revision can be displayed as Extended Information Fig 52 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological advancement For simplification purposes see Fig Selection dialog for new EtherCAT device only the last i e highest revision and therefore the latest state of production is displayed in the selection dial...

Страница 53: ...ion This also enables subsequent replacement of devices without changing the configuration different specifications are possible for drives Example If an EL2521 0025 1018 is specified in the configuration an EL2521 0025 1018 or higher 1019 1020 can be used in practice Fig 54 Name revision of the terminal If current ESI descriptions are available in the TwinCAT system the last revision offered in t...

Страница 54: ...Commissioning EL1052 EL1054 54 Version 1 1 Fig 55 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3 ...

Страница 55: ... The online search is not available in RUN mode production operation Note the differentiation be tween TwinCAT programming system and TwinCAT target system The TwinCAT 2 icon or TwinCAT 3 icon within the Windows Taskbar always shows the TwinCAT mode of the local IPC Compared to that the System Manager window of TwinCAT 2 or the user interface of TwinCAT 3 indicates the state of the target system F...

Страница 56: ...pe The respective devices are lo cated in the stored ESI data and integrated in the configuration tree in the default state defined there Fig 60 Example default state NOTE Slave scanning in practice in series machine production The scanning function should be used with care It is a practical and fast tool for creating an initial configu ration as a basis for commissioning In series machine product...

Страница 57: ...configuration B tsm in order to check the built machine However if the series machine production department now doesn t use B tsm but instead carries out a scan to create the productive configuration the revision 1019 is automatically detected and built into the configuration Fig 62 Detection of EtherCAT terminal with revision 1019 This is usually not noticed by the commissioning engineers TwinCAT...

Страница 58: ...switched to online state OPERATIONAL Fig 66 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display alternates between blue and red and the EtherCAT device continues to operate with the idling cycle time of 4 ms default setting even without active task NC PLC Fig 67 Displaying of Free Run and Config Mode toggling right below in the status bar Fig 68 Tw...

Страница 59: ...device is detected i e an EtherCAT slave for which no ESI XML description is available In this case the System Manager offers to read any ESI that may be stored in the device This case is described in the chapter Notes regarding ESI device description Device are not detected properly Possible reasons include faulty data links resulting in data loss during the scan slave has invalid device descript...

Страница 60: ...onfiguration is then replaced by the revision found this can affect the supported process data and functions If a scan is initiated for an existing configuration the actual I O environment may match the configuration exactly or it may differ This enables the configuration to be compared Fig 71 Identical configuration left TwinCAT 2 right TwinCAT 3 If differences are detected they are shown in the ...

Страница 61: ...s based on the higher revision number Device selection based on revision compatibility The ESI description also defines the process image the communication type between master and slave device and the device functions if applicable The physical device firmware if available has to support the communication queries settings of the master This is backward compatible i e newer devices higher revision ...

Страница 62: ...inCAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 75 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This function is preferably to be used on AX5000 devices Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device Change to Alternative Type Fig 76 TwinCAT 2 Dialog Ch...

Страница 63: ...s tabs are now available for configuring the terminal And yet the dimension of complexity of a subscriber determines which tabs are provided Thus as illustrated in the example above the terminal EL3751 provides many setup options and also a respective number of tabs are available On the contrary by the terminal EL1004 for example the tabs General EtherCAT Process Data and Online are available only...

Страница 64: ...ring the start up phase Tick the control box to the left of the input field in order to modify the default value Previous Port Name and port of the EtherCAT device to which this device is connected If it is possible to connect this device with another one without changing the order of the EtherCAT devices in the communication ring then this combination field is activated and the EtherCAT device to...

Страница 65: ...f modifications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information is also stored in the CoE directory Any changes in the CoE directory that lead to different PDO settings prevent successful startup of the slave It is not advisable to deviate from the designated pro...

Страница 66: ... of incorrect configuration the EtherCAT slave usu ally refuses to start and change to OP state The System Manager displays an invalid SM cfg log ger message This error message invalid SM IN cfg or invalid SM OUT cfg also indicates the reason for the failed start A detailed description 71 can be found at the end of this section Startup tab The Startup tab is displayed if the EtherCAT slave has a m...

Страница 67: ...e sent to the mailbox Move Up This button moves the selected request up by one position in the list Move Down This button moves the selected request down by one position in the list New This button adds a new mailbox download request to be sent during startup Delete This button deletes the selected entry Edit This button edits an existing request CoE Online tab The additional CoE Online tab is dis...

Страница 68: ... object can be read but no data can be written to the object read only P An additional P identifies the object as a process data object Value Value of the object Update List The Update list button updates all objects in the displayed list Auto Update If this check box is selected the content of the objects is updated automatically Advanced The Advanced button opens the Advanced Settings dialog Her...

Страница 69: ...objects included in the object list of the slave is uploaded from the slave via SDO information The list below can be used to specify which object types are to be uploaded Offline via EDS File If this option button is selected the list of the objects included in the object list is read from an EDS file provided by the user Online tab Fig 85 Online tab ...

Страница 70: ...f the EtherCAT device Requested State Indicates the state requested for the EtherCAT device DLL Status Indicates the DLL status data link layer status of the individual ports of the EtherCAT slave The DLL status can have four different states Status Description No Carrier Open No carrier signal is available at the port but the port is open No Carrier Closed No carrier signal is available at the po...

Страница 71: ...t In order to be able to select a greyed out PDO the currently selected PDO has to be deselected first Activation of PDO assignment ü If you have changed the PDO assignment in order to activate the new PDO assignment a the EtherCAT slave has to run through the PS status transition cycle from pre operational to safe operational once see Online tab 69 b and the System Manager has to reload the Ether...

Страница 72: ...winCAT More detailed information on this may be found in the corresponding sections of for instance the EtherCAT System Documentation Diagnosis in real time WorkingCounter EtherCAT State and Status Generally speaking an EtherCAT Slave provides a variety of diagnostic information that can be used by the controlling task This diagnostic information relates to differing levels of communication It the...

Страница 73: ...cycle red Output variables from the Slave to the EtherCAT Master updated in every cycle green Information variables for the EtherCAT Master that are updated acyclically This means that it is possible that in any particular cycle they do not represent the latest possible status It is therefore useful to read such variables through ADS Fig Basic EtherCAT Slave Diagnosis in the PLC shows an example o...

Страница 74: ...sibly have effects on the process data of other Slaves that are located in the same Syn cUnit In order for the higher level PLC task or cor responding control applications to be able to rely on correct data the communication sta tus of the EtherCAT Slave must be evaluated there Such information is therefore provided with the process data for the most recent cy cle D Diagnostic information of the E...

Страница 75: ...ed locally in the slave depends on the device EL terminals except the EL66xx are able to save in this way The user must manage the changes to the StartUp list Commissioning aid in the TwinCAT System Manager Commissioning interfaces are being introduced as part of an ongoing process for EL EP EtherCAT devices These are available in TwinCAT System Managers from TwinCAT 2 11R2 and above They are inte...

Страница 76: ...ual operation After the operating power is switched on an EtherCAT Slave must go through the following statuses INIT PREOP SAFEOP OP to ensure sound operation The EtherCAT Master directs these statuses in accordance with the initialization routines that are defined for commissioning the device by the ES XML and user settings Distributed Clocks DC PDO CoE See also the section on Principles of Commu...

Страница 77: ...e set as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 91 Default behaviour of the System Manager In addition the target state of any particular Slave can be set in the Advanced Settings dialogue the standard setting is again OP Fig 92 Default target state in the Slave ...

Страница 78: ... slave Fig 93 PLC function blocks Note regarding E Bus current EL ES terminals are placed on the DIN rail at a coupler on the terminal strand A Bus Coupler can supply the EL terminals added to it with the E bus system voltage of 5 V a coupler is thereby loadable up to 2 A as a rule Information on how much current each EL terminal requires from the E bus supply is available online and in the catalo...

Страница 79: ...d above a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 95 Warning message for exceeding E Bus current NOTE Caution Malfunction possible The same ground potential must be used for the E Bus supply of all EtherCAT terminals in a terminal block ...

Страница 80: ...tandard limits IEC 60947 5 6 edition 1999 Status bit Status LED Error bit Error LED and switching hysteresis of the terminal together with NAMUR limits is represented by the image as follows Fig 97 NAMUR switching potentials of the EL105x A program of a control can evaluate the Status bit for the binary state and the Error bit of the terminal for error detection Accordingly in addition to the acti...

Страница 81: ...Commissioning EL1052 EL1054 81 Version 1 1 Fig 98 Exemplary trend of a proximity sensor with NAMUR limits for save decision of the switching state ...

Страница 82: ...are accessible there as zip files Customers can access the data via the EtherCAT fieldbus and its communication mechanisms Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data The TwinCAT System Manager offers mechanisms for programming all 3 parts with new data if the slave is set up for this purpose Generally the slave does not check whether t...

Страница 83: ... unique identifier consisting of slave name 9 characters digits and a revision number 4 digits Each slave configured in the System Manager shows its identifier in the EtherCAT tab Fig 99 Device identifier consisting of name EL3204 0000 and revision 0016 The configured identifier must be compatible with the actual device description used as hardware i e the description which the slave has loaded on...

Страница 84: ...nfiguration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 102 Change dialog In this example in Fig Change dialog an EL3201 0000 0017 was found while an EL3201 0000 0016 was configured In this case the configuration can be adapted with the Copy Before button The Extended Information checkbox must be set in order to display the revision ...

Страница 85: ...ected in the following dialog see Fig Selecting the new ESI The checkbox Show Hidden Devices also displays older normally hidden versions of a slave Fig 104 Selecting the new ESI A progress bar in the System Manager shows the progress Data are first written then verified The change only takes effect after a restart Most EtherCAT devices read a modified ESI description immediately or after startup ...

Страница 86: ...ple terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT CoE Online and Offline CoE Two CoE directories are available online This is offered in the EtherCAT slave by the controller if the EtherCAT slave supports this This CoE directory can only be displayed if a slave is connected and operational offline The EtherCAT Slave Information ESI XML may contain the default content of the CoE...

Страница 87: ...d during a firmware update Switch to the Online tab to update the controller firmware of a slave see Fig Firmware Update Fig 106 Firmware Update Proceed as follows unless instructed otherwise by Beckhoff support Valid for TwinCAT 2 and 3 as EtherCAT master Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time operation is not re...

Страница 88: ...n update may be accomplished via an rbf file Controller firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in the terminal serial number contains both firmware components If one of these firmware components is modified this version number is updated Determining the version via the System Manager The TwinCAT...

Страница 89: ...ayed right click the table header and select Properties in the context menu Fig 108 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Diagnosis Online View select the 0002 ETxxxx Build check box in order to activate the FPGA firmware version display ...

Страница 90: ...the terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device The following sequence order have to be met if no other specifications are given e g by the Beckhoff support Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time operation is not ...

Страница 91: ...m Manager select the terminal for which the FPGA firmware is to be updated in the example Terminal 5 EL5001 and click the Advanced Settings button in the EtherCAT tab The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button ...

Страница 92: ...e to the device A download of firmware to an EtherCAT device must not be interrupted in any case If you interrupt this process by switching off power supply or disconnecting the Ethernet link the EtherCAT device can only be recommissioned by the manufacturer 6 3 5 Simultaneous updating of several EtherCAT devices The firmware and ESI descriptions of several devices can be updated simultaneously pr...

Страница 93: ...ers PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK Fig Entering a restore value in the Set Value dialog All backup objects are reset to the delivery state Fig 112 Entering a restore value in the Set Value dialog Alternative restore value In some older terminals the backup objects can be...

Страница 94: ...omponents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services support design programming and commissi...

Страница 95: ...st in the TwinCAT System Manager 21 Fig 15 Offline list 22 Fig 16 Online list 22 Fig 17 Spring contacts of the Beckhoff I O components 25 Fig 18 Attaching on mounting rail 26 Fig 19 Disassembling of terminal 27 Fig 20 Power contact on left side 28 Fig 21 Standard wiring 29 Fig 22 Pluggable wiring 30 Fig 23 High Density Terminals 30 Fig 24 Connecting a cable on a terminal point 31 Fig 25 Correct po...

Страница 96: ...e default state 56 Fig 61 Installing EthetCAT terminal with revision 1018 57 Fig 62 Detection of EtherCAT terminal with revision 1019 57 Fig 63 Scan query after automatic creation of an EtherCAT device left TwinCAT 2 right Twin CAT 3 57 Fig 64 Manual triggering of a device scan on a specified EtherCAT device left TwinCAT 2 right TwinCAT 3 58 Fig 65 Scan progressexemplary by TwinCAT 2 58 Fig 66 Con...

Страница 97: ...andard limits IEC 60947 5 6 edition 1999 80 Fig 97 NAMUR switching potentials of the EL105x 80 Fig 98 Exemplary trend of a proximity sensor with NAMUR limits for save decision of the switching state 81 Fig 99 Device identifier consisting of name EL3204 0000 and revision 0016 83 Fig 100 Scan the subordinate field by right clicking on the EtherCAT device 84 Fig 101 Configuration is identical 84 Fig ...

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